蚁群算法在全局最优路径寻优中的应用

移动机器人路径规划是机器人学的一个重要研究领域。针对移动场地的特点对其进行了建模与存储,然后将场地处理成简单的连通图,在此基础上对TSP模型进行了改进以应用到机器人全局最优路径中来,然后利用蚁群算法的基本原理在所建立的模型上进行全局最优路径搜索。为了更好的寻找到全局最优路径,对基本蚁群算法也做了一定的改进。不同的实验结果表明这种方法的确可以准确地找出全局最优路径。

Application of Ant Colony Algorithm in Global Optimal Path Searching

The path planning problem of mobile robot is a quite important field for robotics. The model was constructed and stored according to the characteristic of environment and the ground was processed as simple Connective Graph. On the basis of the Connective Graph obtained above,the TSP model was transplanted for the global optimal path searching of mobile robot. The basic Ant Colony Algorithm(ACA) was improved for some content and then applied directly to search the Global Optimal Path(GOP) on the model constructed above. Different simulation results show that the method suggested can exactly search out the GOP actually.